A Study of Transparency in Wave-based Teleoperation

Transparency and stability are two key issues in bilateral teleoperation. This paper develops an analytical framework for investigating transparency of a position error-based teleoperator without and with time delay and derives criteria for optimum transparent operation in each case. The analysis is based upon two-port network modelling of the teleoperation system. For stabilizing this teleoperator in the presence of communication latencies, the Niemeyer-Slotine wave based approach is employed and its performance with respect to transparency is investigated. In order to improve transparency in a wave-based teleoperator, two different methods are rigorously studied and compared. Numerical simulation results have been included in order to support the theoretical analysis

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